CN112209235A

CN112209235A - Trolley control device and method and crane

Info

Publication number: CN112209235A
Application number: CN202011231892.8A
Authority: CN
Inventors: 陈敏华; 邱少良; 周慧芳
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-01-12
Anticipated expiration: 2040-11-06
Also published as: CN112209235B

Abstract

The invention provides a trolley control device and method and a crane, and solves the problem that in the prior art, the number of limit switches on the crane trolley is increased to cause complex installation wiring. The carriage control device includes: a plurality of limit switches; the processing unit is used for acquiring switch state identifiers of the limit switches; according to the preset sequence of the switch state identification, a trolley state identification code is obtained; according to the trolley state identification code, combining a pre-stored corresponding relation between the trolley state identification code and the action instruction to obtain a corresponding action instruction; and the control unit is used for controlling the trolley to execute the action command.

Description

Trolley control device and method and crane

Technical Field

The invention relates to the technical field of engineering equipment, in particular to a trolley control device and method and a crane.

Background

In the prior art, a trolley of a crane, for example, a field bridge crane or a shore bridge crane, is usually provided with a plurality of limit switches, the limit switches correspond to detection positions on a running track of the trolley one by one, and the limit switches respectively work independently without affecting each other. In order to meet different limiting requirements, a plurality of detection positions are usually arranged on a trolley running track, and under the condition, the number of limiting switches on the trolley is increased, so that the installation wiring of the limiting switches is complicated day by day.

Disclosure of Invention

In view of this, embodiments of the present invention provide a trolley control device and method, and a crane, so as to solve the problem in the prior art that installation and wiring are complicated due to the increased number of limit switches on a crane trolley.

The present invention in a first aspect provides a trolley control device, comprising: a plurality of limit switches; the processing unit is used for acquiring switch state identifiers of the limit switches; according to the preset sequence of the switch state identification, a trolley state identification code is obtained; according to the trolley state identification code, combining a pre-stored corresponding relation between the trolley state identification code and the action instruction to obtain a corresponding action instruction; and the control unit is used for controlling the trolley to execute the action command.

In one embodiment, the pre-stored correspondence relationship between the trolley state identification code and the action command includes a plurality of trolley state identification codes, and the plurality of trolley state identification codes are obtained by arranging and combining switch state identifiers of a plurality of limit switches.

In one embodiment, the cart control apparatus further comprises: a plurality of trigger units; the trigger unit is used for triggering the limit switch so as to enable the limit switch to switch the switch state.

In one embodiment, the cart control apparatus further comprises: the device comprises a track and a trolley in sliding fit with the track, wherein a plurality of limit switches are fixed on the trolley; the track comprises a plurality of detection positions corresponding to the trolley state identification codes one by one, and the trigger unit is fixed on the detection positions.

In one embodiment, the track comprises a plurality of sub-tracks arranged in parallel, the plurality of trigger units are divided into a plurality of groups, and the plurality of sub-tracks and the plurality of groups of trigger units are in one-to-one correspondence; each group of trigger units is linearly arranged on the corresponding sub-track.

In one embodiment, the detection position comprises at least two of a left limit, a left stop position, a left deceleration position, a fault detection position, a right deceleration position, a right stop position and a right limit which are sequentially arranged along the stroke direction.

In one embodiment, the orthographic projection of the limit switches on the track is any one of a straight line shape, a rectangular shape and a triangular shape.

In one embodiment, the trolley control device further comprises indicating lamps and a display screen which are in one-to-one correspondence with the limit switches, and the display screen is used for displaying the corresponding relation between the detection position and the trolley state identification code.

In one embodiment, the limit switch comprises a mechanical limit switch, and the trigger unit comprises a stopper; or the limit switch comprises an induction limit switch, and the trigger unit comprises a metal block.

In one embodiment, the correspondence between the trolley state identification code and the action command comprises a standard sequence of a plurality of trolley state identification codes in a travel period of the trolley; the action instructions include fault detection instructions. The control unit controls the trolley to execute the fault detection instruction and comprises the following steps: and determining whether the limit switches have faults or not based on the sequence of the trolley state identification codes obtained in the preset stroke of the trolley and the pre-stored standard sequence.

In one embodiment, when it is determined that the plurality of limit switches are malfunctioning, the control unit is further configured to: and determining the limit switch with the fault by combining the corresponding relationship between the pre-stored fault sequence and the fault limit switch number based on the sequence.

In one embodiment, the corresponding relationship between the trolley state identification code and the action command comprises a standard sequence code of the switch state identification of each limit switch in the travel period of the trolley; the action instructions include fault detection instructions. The control unit controls the trolley to execute the fault detection instruction and comprises the following steps: and determining whether the current limit switch has a fault or not based on the sequence code of the switch state identifier of the target limit switch obtained in the preset stroke of the trolley and the stored standard sequence code.

In a second aspect, the invention provides a crane, which comprises the trolley control device provided by any one of the above embodiments.

The invention provides a trolley control method, which is used for a trolley provided with a plurality of limit switches. The trolley control method comprises the following steps: acquiring switch state identifiers of a plurality of limit switches; according to the preset sequence of the switch state identification, a trolley state identification code is obtained; according to the trolley state identification code, combining a pre-stored corresponding relation between the trolley state identification code and the action instruction to obtain a corresponding action instruction; and controlling the trolley to execute the action command.

In one embodiment, the pre-stored correspondence relationship between the cart status identification codes and the motion commands includes a plurality of cart status identification codes and a standard sequence of the cart status identification codes within the travel period of the cart. The control trolley executes the action command, which comprises the following steps: and determining whether the limit switches have faults or not based on the sequence of the trolley state identification codes obtained in the preset stroke of the trolley and the pre-stored standard sequence.

In one embodiment, when it is determined that the plurality of limit switches are malfunctioning, the method further comprises: and determining the limit switch with the fault by combining the corresponding relationship between the pre-stored fault sequence and the fault limit switch number based on the sequence.

In one embodiment, the correspondence between the cart state identification code and the motion command includes a standard sequential code of the switch state identification of each limit switch within the travel period of the cart. The control trolley executes the action command, which comprises the following steps: and determining whether the current limit switch has a fault or not based on the sequence code of the switch state identifier of the target limit switch obtained in the preset stroke of the trolley and the stored standard sequence code.

According to the trolley control device and method and the crane, the preset sequence of the switch state identifiers of the limit switches is used as the trolley state identification codes, different trolley state identification codes correspond to different detection positions and further correspond to different action instructions, so that the detection of each detection position is realized by using the limit switches less than the detection positions, and the complexity of installing and wiring the limit switches is further reduced.

Drawings

Fig. 1 is a schematic partial structural diagram of a crane according to an embodiment of the present invention. The schematic diagram shows an application scenario of the trolley control device.

Fig. 2 is a block diagram of a cart control device according to an embodiment of the present invention.

Fig. 3 is a schematic layout view of the trigger units on the trolley travel track according to an embodiment of the present invention.

Fig. 4 is a flowchart illustrating the fault detection performed by the cart control apparatus according to the first embodiment of the present invention.

Fig. 5 is a flowchart illustrating the fault detection performed by the cart control apparatus according to the second embodiment of the present invention.

Fig. 6 is a flowchart of a cart control method according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a trolley control device, aiming at the problem that the installation and wiring of limit switches are complex due to the fact that a plurality of limit switches corresponding to detection positions one by one need to be arranged on the existing crane trolley. When the trolley control device is applied to the crane trolley, the detection of each detection position can be realized by using the limit switches less than the detection positions, and then the trolley is controlled to execute the functions corresponding to the detection positions, such as speed reduction, braking and the like. It should be understood that the trolley control device can be provided on any trolley that is used in a fixed position or fixed state detection scenario, and is not limited to a crane trolley.

Fig. 1 is a schematic partial structural diagram of a crane according to an embodiment of the present invention. The schematic diagram shows an application scenario of the trolley control device. As shown in fig. 1, the crane 10 includes a trolley 11 and a main beam 12 slidably engaged with the trolley 11. The cart control device 20 is mounted on the cart 10, and the main beam 12 is provided with a plurality of detection positions 120. When the car moves to a certain detection position 120, the car control device 20 identifies the detection position 120, and controls the car to execute an action command corresponding to the current detection position, such as deceleration, braking, fault detection, and the like. The operation command corresponding to the current detection position is stored in advance in the cart control apparatus 20.

The structure of the carriage control device will be described in detail with reference to the following embodiments.

Fig. 2 is a block diagram of a cart control device according to an embodiment of the present invention. As shown in fig. 1 and 2, the cart control device 20 includes a plurality of limit switches 21, a plurality of trigger units 24, a processing unit 22, and a control unit 23. The trigger unit 24 is used for triggering the limit switch 21 so that the limit switch 21 switches the switch state. The processing unit is used for acquiring switch state identifiers of the limit switches 21; according to the preset sequence of the switch state identification, a trolley state identification code is obtained; and according to the trolley state identification code, combining the corresponding relation between the prestored trolley state identification code and the action instruction to obtain a corresponding action instruction. The control unit 23 is used for controlling the trolley to execute the action command.

According to different triggering modes, the limit switch 21 may be a mechanical limit switch or an inductive limit switch. When the limit switch 21 is a mechanical limit switch, such as a rocker-type limit switch, the trigger unit 24 may be a stopper. In this case, when the cart 11 moves to a certain detection position 120, the stopper at the detection position 120 applies a force to the limit switch 21, so that the limit switch 21 is switched to the open/close state. When the limit switch 21 is an inductive limit switch, such as a proximity limit switch, the trigger unit 24 may be a metal block. In this case, when the cart 11 moves to a certain detection position 120, the proximity limit switch detects the presence of the metal block, and the proximity limit switch is automatically controlled to switch the on-off state.

The switch state flags include on state flags and off state flags, e.g., denoted by 1 and 0, respectively. In this case, after the switch state identifiers of the limit switches 21 are arranged in a predetermined order, a set of codes, i.e., cart state identification codes, can be formed. For example, when the number of limit switches 21 is 3, the cart state identification code may be 110, 101, 001, or the like.

The corresponding relationship between the pre-stored trolley state identification code and the action instruction comprises a plurality of trolley state identification codes, and the trolley state identification codes are obtained by arranging and combining the switch state identifiers of the limit switches 21. For example, when the number of the limit switches 21 is 3, the permutation and combination of the switch state identifications of the 3 limit switches 21 can be obtained

And (5) planting a trolley state identification code. Each car status identification code corresponds to one action command, and one action command corresponds to one detection bit 120. In this case, when the current cart state identification code composed of the current state identifiers of the plurality of limit switches 21 belongs to any one of the correspondence relationships between the cart state identification code and the action instruction, the control unit controls the cart to execute the corresponding action instruction, and thus it can be determined that the cart has moved to the detection position corresponding to the current cart state identification code. The permutation and combination of the switch state identifications of the limit switches 21 corresponds to a plurality of detection positions, so that the limit switches 21 as few as possible can be used for detecting the plurality of detection positions, and the effective utilization rate of the limit switches 21 is improved.

It should be understood that the cart control apparatus 20 may not include the triggering unit 24, but may use the existing triggering unit 24 to implement the triggering function of the limit switch 21.

According to the trolley control device provided by the embodiment, the preset sequence of the switch state identifications of the limit switches 21 is used as the trolley state identification codes, different trolley state identification codes correspond to different detection positions and further correspond to different action instructions, so that the detection of each detection position by using the limit switches less than the detection position number is realized, and the complexity of installing and wiring the limit switches is reduced.

In one embodiment, as shown in FIG. 2, the trolley control device 20 further comprises a trolley 26 and a track 25 in sliding engagement with the trolley 26. The cart control apparatus 20 is fixed to the cart 26, and the plurality of trigger units 24 are fixed to the rail 25 according to a predetermined rule to ensure one-to-one correspondence between the detection positions 250 and the cart status identification codes.

Fig. 3 is a schematic layout view of the trigger units on the trolley travel track according to an embodiment of the present invention. As shown in fig. 2 and fig. 3, the track 25 includes a plurality of detection positions 250, a plurality of trigger units 24 are fixed on the detection positions 250, and the number of trigger units 24 on the same detection position 250 is the same or different.

Specifically, the track 25 includes a plurality of sub-tracks 250 arranged in parallel, the plurality of trigger units 24 are divided into a plurality of groups, and the plurality of sub-tracks 250 and the plurality of groups of trigger units 24 correspond to each other one to one. The multiple groups of trigger units are parallel to each other, and each group of trigger units are linearly arranged in the stroke direction of the trolley.

For example, as shown in fig. 3, the trolley control device 20 comprises three limit switches 21, and correspondingly, the track 25 comprises three sub-tracks 250. In this case, three limit switches 21 can correspondingly obtain 8 kinds of car state identification codes. In this embodiment, 7 nonzero car state identification codes are selected, and the 7 car state identification codes respectively correspond to 7 detection positions on the track 25, including a left limit position a, a left stop position B, a left deceleration position C, a fault detection position D, a right deceleration position E, a right stop position F and a right limit position G. The corresponding relationship between the car state identification code and the detection bit is shown in table 1.

TABLE 1 corresponding relationship table of car state identification code and detection position

It should be understood that each detection bit corresponds to one action command, and therefore the corresponding relationship between the cart state identification code and the detection bit shown in table 1, that is, the corresponding relationship between the cart state identification code and the action command. The action instructions corresponding to the left limit position and the right limit position are braking; the action instructions corresponding to the left stop position and the right stop position are used for controlling the speed of the trolley to be reduced to zero; and the action instructions corresponding to the left deceleration position and the right deceleration position are used for controlling the trolley to run at a speed lower than the current running speed. For example, when the cart moves to the left stop position, the three limit switches 21 are in the off state, the on state, and the off state in sequence, and the cart state identification code obtained by the processing unit 22 in the cart control device 20 is 010. Subsequently, the control unit 23 controls the speed of the trolley to be reduced to 0 m/s.

In addition, the correspondence between the cart state identification code and the detection bit given in table 1 is merely exemplary, and may be exchanged according to actual situations. It should be understood that when the corresponding relationship between the cart status identification code and the detection position is changed, the number and arrangement of the detection units 24 on the corresponding detection position should be changed accordingly. For example, the cart state identification code corresponding to the left limit position a is set to 010, and the cart state identification code corresponding to the left stop position B is set to 001. The positional relationship of the trigger unit 24 of the left limit position a and the left stop position B in fig. 3 is interchanged.

In the present embodiment, as shown in fig. 3, the orthographic projections of the limit switches 21 on the rail 25 are linear. In this case, the trigger units 24 on different sub-tracks are arranged in a straight line at the detection site 250. It should be understood that in other embodiments, the orthographic projection of the plurality of limit switches 21 on the track 25 may also be rectangular, triangular, etc., as long as it is ensured that the orthographic projection of the plurality of limit switches 21 on the track 25 and the trigger unit 24 on the detection position 250 coincide. The flexible arrangement mode of the limit switches 21 can adapt to different structures of the trolley, and the compatibility of the trolley control device to the trolley structure is improved.

In one embodiment, the cart control apparatus 20 further includes an indicator light and a display screen in one-to-one correspondence with the plurality of limit switches 21, the display screen being used to display a correspondence between the cart status identification code and the detection position, such as shown in table 1. The indicator light and the display screen may be provided on a remote control terminal, such as a remote control. Under the condition, if the state of the current indicator lamp is inconsistent with the state identification in the trolley state identification code corresponding to the detection position, the fault of the limit switch corresponding to the current indicator lamp is judged. For example, when the trolley runs to the left deceleration position C, the indicator light corresponding to the limit switch 1 is in a bright state, and then the worker can judge that the limit switch 1 has a fault.

In another embodiment, the cart control apparatus 20 has limit switch fault detection functionality without the involvement of personnel, improving the automation of the cart control apparatus 20. For example, as shown in table 1, the track 25 is provided with a failure detection bit D. The advantage of placing the fault detection bit between the left and right deceleration bits is that the processing unit 22 can be reserved with sufficient computational time for fault detection due to the relatively long physical distance between the left and right deceleration bits. It should be understood that the fault detection bit D is actually a trigger condition for the trolley control means 20 to perform fault detection. In fact, in other embodiments, the fault detection bit D may not be set on the track, but may be triggered by software, for example, prestoring the triggering condition for the trolley control device 20 to perform fault detection, for example, triggering the fault detection function when the trolley control device 20 detects that the actual running speed of the trolley is zero.

The following describes a process of implementing fault detection by the trolley control device 20 with reference to a specific embodiment.

Fig. 4 is a flowchart illustrating the fault detection performed by the cart control apparatus 20 according to the first embodiment of the present invention. As shown in fig. 4, when the trolley control device 20 executes the fault detection function, the control unit 23 controls the trolley to execute the fault detection command, which specifically includes:

and step S410, determining whether the current limit switch has a fault or not based on the sequence code of the switch state identification of the target limit switch obtained in the preset travel of the trolley and the stored standard sequence code.

The target limit switch means any one of the plurality of limit switches 21. The predetermined travel may be set manually, for example, the predetermined travel is set as a travel period of the trolley, which may be a process of starting the trolley from the current position to stopping at either end of the track. For example, as shown in table 1, the process of starting the vehicle from the position between the left deceleration position C and the right deceleration position E to the stop at the left limit a. For another example, as shown in table 1, the process in which the vehicle starts from the position between the left deceleration position C and the right deceleration position E to the right limit stop G. The travel cycle may also be the process of the cart traversing all the detection bits. For example, as shown in table 1, the process of starting the vehicle from the position between the left deceleration position C and the right deceleration position E to the right limit position G and stopping the vehicle from the right limit position G to the left limit position G. The travel period may also be the process of starting the vehicle from the current position to either end of the track to stop and then returning to the fault detection position E. For example, as shown in table 1, the vehicle starts from a position between the left deceleration position C and the right deceleration position E to the right limit position G and stops, and then returns to the process of stopping at the fault detection position E.

The sequential coding of the switch state identifiers refers to the sequential ordering of the state identifiers of the target limit switches within a predetermined travel, which consists of the numbers 0 and 1. The standard sequence code is the sequence of the state identifiers in the preset stroke when the target limit switch is in the normal state. For example, when the predetermined travel is a process that the trolley starts from a position between the left deceleration position C and the right deceleration position E to the right limit position G to stop and then returns to the fault detection position E to stop, as shown in table 1, the standard sequence code corresponding to the limit switch 1 is 1111; the standard sequence code corresponding to the limit switch 2 is 001; the standard sequential code corresponding to the limit switch 3 is 0101. The standard sequential coding is also adaptively adjusted according to the set preset stroke.

In one embodiment, step S410 is specifically performed as: matching the sequence codes of the switch state identifications of the limit switches with the standard sequence codes, and if the sequence codes are consistent, determining that the limit switches are in a normal state; and if the two are inconsistent, determining that the limit switch has a fault.

In one embodiment, before step S410, the method further includes: and step S420, sequentially recording the switch state identification of the target limit switch obtained in the preset travel of the trolley to form a sequential code.

Further, after step S410, the method may further include: and step S430, determining the current fault state of the limit switch. Specifically, when the target limit switch fails, either the normally closed state or the normally open state is assumed. In this case, the obtained sequence code corresponding to the target limit switch is either 00 … … or 11 … …. By identifying the sequential code, whether the current fault state of the limit switch is normally closed or normally open can be determined.

Fig. 5 is a flowchart illustrating the fault detection performed by the cart control apparatus 20 according to the second embodiment of the present invention. As shown in fig. 5, when the trolley control device 20 executes the fault detection function, the control unit 23 controls the trolley to execute the fault detection command, which specifically includes:

and step S510, determining whether the limit switches have faults or not based on the sequence of the trolley state identification codes obtained in the preset stroke of the trolley and the pre-stored standard sequence.

The pre-stored corresponding relation between the trolley state identification codes and the action instructions comprises a standard sequence of the trolley state identification codes in the travel period of the trolley. For example, as shown in table 1, the standard order of the plurality of cart status identifiers over the travel period of the cart is:

001,010,011,111,100,101,110。

the predetermined travel may be set manually, for example, the predetermined travel is set as a travel period of the trolley, which may be a process of starting the trolley from the current position to stopping at either end of the track. For example, as shown in table 1, the process of starting the vehicle from the position between the left deceleration position C and the right deceleration position E to the stop at the left limit a. For another example, as shown in table 1, the process in which the vehicle starts from the position between the left deceleration position C and the right deceleration position E to the right limit stop G. For another example, as shown in table 1, the process in which the vehicle starts from the position between the left deceleration position C and the right deceleration position E to the right limit position G and stops, and then starts from the right limit position G to the left limit position stops.

In this case, before each operation, the cart is manually or automatically controlled to operate for a travel period, the cart control device 20 records the sequence of the plurality of cart state identification codes obtained in the travel period, matches the sequence of the plurality of obtained cart state identification codes with the standard sequence, and if the sequence of the plurality of obtained cart state identification codes is consistent with the standard sequence, the limit switch 21 is in the normal operation state; if not, a faulty limit switch 21 is indicated.

In one embodiment, the controlling unit 23 shown in fig. 5 for controlling the trolley to execute the fault detection command further includes:

and step S520, determining the limit switch with the fault according to the sequence of the plurality of trolley state identification codes obtained in the preset stroke of the trolley and the corresponding relationship between the pre-stored fault sequence and the fault limit switch number.

Still take the corresponding relation table of the cart state identification code and the detection position shown in table 1 as an example, in this case, in order to make the sequence of the cart state identification codes more clear, the cart state identification code is converted into decimal number representation as shown in table 2. Accordingly, the correspondence between the pre-stored fault order and the fault limit switch number is shown in table 2.

TABLE 2 correspondence between fault sequence and fault limit switch number

As can be seen from table 2, still taking the process that the trolley starts from the position between the left deceleration position C and the right deceleration position E to the right limit position G for stopping by using the predetermined stroke as an example, and then returns to the fault detection position E for stopping, when the sequence of the plurality of trolley state identification codes obtained by the trolley control device 20 through data processing is 0123, it is determined that the limit switch 1 is in fault, and the fault state is normally closed. When the sequence of the plurality of cart state identification codes is 4567, it is determined that the limit switch 1 is out of order, and the failure state is normally open. The limit switch 2 and the limit switch 3 are the same.

The application also provides a crane, which comprises the trolley control device provided by any one of the embodiments.

Fig. 6 is a flowchart of a cart control method according to an embodiment of the present invention. The trolley control method is implemented by software, and is executed by a processing unit and a control unit in the trolley control device provided by any one of the above embodiments. As shown in fig. 6, the cart control method 600 includes:

step S610, acquiring the switch state identifiers of the limit switches.

And S620, obtaining a trolley state identification code according to the preset sequence of the switch state identification.

And step S630, according to the trolley state identification code, combining the corresponding relation between the prestored trolley state identification code and the action instruction to obtain a corresponding action instruction.

And step S640, controlling the trolley to execute the action command.

In one embodiment, when the action instruction includes a fault detection instruction, step S640 specifically executes a fault detection process shown in fig. 4 or fig. 5.

Specific details related to the trolley control method provided in any embodiment of the present application may refer to the description of the trolley control device embodiment, and are not described herein again.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. A cart control apparatus, comprising:

a plurality of limit switches;

the processing unit is used for acquiring the switch state identifiers of the limit switches; obtaining a trolley state identification code according to the preset sequence of the switch state identification; according to the trolley state identification code, combining a pre-stored corresponding relation between the trolley state identification code and the action instruction to obtain a corresponding action instruction; and

and the control unit is used for controlling the trolley to execute the action command.

2. The trolley control device as claimed in claim 1, wherein the pre-stored correspondence relationship between the trolley status identification code and the action command comprises a plurality of trolley status identification codes, and the trolley status identification codes are obtained by permutation and combination of the switch status identifiers of the limit switches.

3. The cart control apparatus according to claim 2, further comprising: and the triggering units are used for triggering the limit switches so as to enable the limit switches to switch the switch states.

4. The cart control apparatus according to claim 3, further comprising: the device comprises a track and a trolley in sliding fit with the track, wherein a plurality of limit switches are fixed on the trolley; the track comprises a plurality of detection positions in one-to-one correspondence with the trolley state identification codes, and the trigger unit is fixed on the detection positions.

5. The trolley control device as claimed in claim 4, wherein the rail comprises a plurality of sub-rails arranged in parallel, the plurality of trigger units are divided into a plurality of groups, and the plurality of sub-rails and the plurality of groups of trigger units are in one-to-one correspondence; each group of the trigger units is linearly arranged on the corresponding sub-track.

6. The cart control device according to claim 4 or 5, wherein the detection positions include at least two of a left limit, a left stop position, a left deceleration position, a fault detection position, a right deceleration position, a right stop position, and a right limit, which are arranged in sequence along the stroke direction.

7. The trolley control device as claimed in claim 4 or 5, wherein the orthographic projection of the limit switches on the track is any one of a straight line shape, a rectangular shape and a triangular shape.

8. The trolley control device as claimed in claim 4 or 5, further comprising an indicator light and a display screen corresponding to the limit switches one by one, wherein the display screen is used for displaying the corresponding relationship between the detection position and the trolley state identification code.

9. The trolley control device according to any one of claims 3 to 5, wherein the limit switch comprises a mechanical limit switch, and the trigger unit comprises a stopper; or

The limit switch comprises an induction type limit switch, and the trigger unit comprises a metal block.

10. The trolley control device as claimed in any one of claims 2 to 5, wherein the correspondence between the trolley status identifier and the action command comprises a standard sequence of the trolley status identifiers within a travel cycle of the trolley; the action instructions comprise fault detection instructions;

the control unit controls the trolley to execute the fault detection instruction, and the fault detection instruction comprises the following steps:

and determining whether the limit switches have faults or not based on the sequence of the trolley state identification codes obtained in the preset stroke of the trolley and the pre-stored standard sequence.

11. The cart control apparatus according to claim 10, wherein when it is determined that the plurality of limit switches are malfunctioning, the control unit is further configured to:

and determining the limit switch with the fault based on the sequence and by combining the corresponding relationship between the pre-stored fault sequence and the fault limit switch number.

12. The trolley control device as claimed in any one of claims 2 to 5, wherein the corresponding relationship between the trolley state identification code and the action command includes a standard sequence code of the switch state identifier of each limit switch in a travel cycle of the trolley; the action instructions comprise fault detection instructions;

and determining whether the current limit switch has a fault or not based on the sequence code of the switch state identification of the target limit switch obtained in the preset stroke of the trolley and the stored standard sequence code.

13. A crane comprising a trolley control as claimed in any one of claims 1 to 12.

14. A trolley control method is characterized in that the method is used for a trolley provided with a plurality of limit switches; the method comprises the following steps:

acquiring switch state identifiers of the limit switches;

obtaining a trolley state identification code according to the preset sequence of the switch state identification;

according to the trolley state identification code, combining a pre-stored corresponding relation between the trolley state identification code and the action instruction to obtain a corresponding action instruction;

and controlling the trolley to execute the action command.

15. The cart control method according to claim 14, wherein the pre-stored correspondence between the cart status identification codes and the action commands includes a plurality of cart status identification codes and a standard sequence of the cart status identification codes within a travel cycle of the cart;

the controlling the trolley to execute the action command comprises the following steps:

16. The cart control method according to claim 15, further comprising:

and when the limit switches are determined to have faults, the limit switches with the faults are determined based on the sequence and in combination with the corresponding relationship between the pre-stored fault sequence and the numbers of the fault limit switches.

17. The trolley control method as claimed in claim 14, wherein the corresponding relationship between the trolley state identification code and the action command includes a standard sequence code of the switch state identifier of each limit switch in a travel cycle of the trolley;